A point cloud consists of an unordered set of points where each point has a
Cartesian coordinate value in Euclidean space. Additional attributes may
include the color (i.e., RGB value) and surface normal associated with each
point. Robotics is at the forefront of utilizing point clouds created by 3D
sensor technology. Portrayal of the environment provided by these sensors can
facilitate 3D learning-based tasks like object/scene reconstruction, motion
planning and navigation, object detection and classification, pose estimation,
grasp detection, etc. [1]}. Other pertinent
applications where point clouds are widely used include augmented and virtual
reality, cultural heritage, geographical information systems, self-driving
vehicles, and many more [2]}.
